inav/src/main/io/osd.h

/*
 * This file is part of Cleanflight.
 *
 * Cleanflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Cleanflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#include "common/time.h"

#include "config/parameter_group.h"

#include "drivers/osd.h"
#include "drivers/display.h"

#ifndef OSD_ALTERNATE_LAYOUT_COUNT
#define OSD_ALTERNATE_LAYOUT_COUNT 3
#endif
#define OSD_LAYOUT_COUNT (OSD_ALTERNATE_LAYOUT_COUNT + 1)

#define OSD_VISIBLE_FLAG    0x0800
#define OSD_VISIBLE(x)      ((x) & OSD_VISIBLE_FLAG)
#define OSD_POS(x,y)        ((x) | ((y) << 5))
#define OSD_X(x)            ((x) & 0x001F)
#define OSD_Y(x)            (((x) >> 5) & 0x001F)
#define OSD_POS_MAX         0x3FF
#define OSD_POS_MAX_CLI     (OSD_POS_MAX | OSD_VISIBLE_FLAG)

#define OSD_HOMING_LIM_H1 6
#define OSD_HOMING_LIM_H2 16
#define OSD_HOMING_LIM_H3 38
#define OSD_HOMING_LIM_V1 5
#define OSD_HOMING_LIM_V2 10
#define OSD_HOMING_LIM_V3 15

// Message defines to be use in OSD and/or telemetry exports
#define OSD_MSG_RC_RX_LINK_LOST     "!RC RX LINK LOST!"
#define OSD_MSG_TURN_ARM_SW_OFF     "TURN ARM SWITCH OFF"
#define OSD_MSG_DISABLED_BY_FS      "DISABLED BY FAILSAFE"
#define OSD_MSG_AIRCRAFT_UNLEVEL    "AIRCRAFT IS NOT LEVEL"
#define OSD_MSG_SENSORS_CAL         "SENSORS CALIBRATING"
#define OSD_MSG_SYS_OVERLOADED      "SYSTEM OVERLOADED"
#define OSD_MSG_WAITING_GPS_FIX     "WAITING FOR GPS FIX"
#define OSD_MSG_DISABLE_NAV_FIRST   "DISABLE NAVIGATION FIRST"
#define OSD_MSG_JUMP_WP_MISCONFIG   "JUMP WAYPOINT MISCONFIGURED"
#define OSD_MSG_MAG_NOT_CAL         "COMPASS NOT CALIBRATED"
#define OSD_MSG_ACC_NOT_CAL         "ACCELEROMETER NOT CALIBRATED"
#define OSD_MSG_DISARM_1ST          "DISABLE ARM SWITCH FIRST"
#define OSD_MSG_GYRO_FAILURE        "GYRO FAILURE"
#define OSD_MSG_ACC_FAIL            "ACCELEROMETER FAILURE"
#define OSD_MSG_MAG_FAIL            "COMPASS FAILURE"
#define OSD_MSG_BARO_FAIL           "BAROMETER FAILURE"
#define OSD_MSG_GPS_FAIL            "GPS FAILURE"
#define OSD_MSG_RANGEFINDER_FAIL    "RANGE FINDER FAILURE"
#define OSD_MSG_PITOT_FAIL          "PITOT METER FAILURE"
#define OSD_MSG_HW_FAIL             "HARDWARE FAILURE"
#define OSD_MSG_FS_EN               "FAILSAFE MODE ENABLED"
#define OSD_MSG_KILL_SW_EN          "KILLSWITCH MODE ENABLED"
#define OSD_MSG_NO_RC_LINK          "NO RC LINK"
#define OSD_MSG_THROTTLE_NOT_LOW    "THROTTLE IS NOT LOW"
#define OSD_MSG_ROLLPITCH_OFFCENTER "ROLLPITCH NOT CENTERED"
#define OSD_MSG_AUTOTRIM_ACTIVE     "AUTOTRIM IS ACTIVE"
#define OSD_MSG_NOT_ENOUGH_MEMORY   "NOT ENOUGH MEMORY"
#define OSD_MSG_INVALID_SETTING     "INVALID SETTING"
#define OSD_MSG_CLI_ACTIVE          "CLI IS ACTIVE"
#define OSD_MSG_PWM_INIT_ERROR      "PWM INIT ERROR"
#define OSD_MSG_NO_PREARM           "NO PREARM"
#define OSD_MSG_DSHOT_BEEPER        "MOTOR BEEPER ACTIVE"
#define OSD_MSG_RTH_FS              "(RTH)"
#define OSD_MSG_EMERG_LANDING_FS    "(EMERGENCY LANDING)"
#define OSD_MSG_MOVE_EXIT_FS        "!MOVE STICKS TO EXIT FS!"
#define OSD_MSG_STARTING_RTH        "STARTING RTH"
#define OSD_MSG_RTH_CLIMB           "ADJUSTING RTH ALTITUDE"
#define OSD_MSG_HEADING_HOME        "EN ROUTE TO HOME"
#define OSD_MSG_HOLDING_WAYPOINT    "HOLDING WAYPOINT"
#define OSD_MSG_TO_WP               "TO WP"
#define OSD_MSG_PREPARE_NEXT_WP     "PREPARING FOR NEXT WAYPOINT"
#define OSD_MSG_WP_RTH_CANCEL       "CANCEL WP TO EXIT RTH"
#define OSD_MSG_EMERG_LANDING       "EMERGENCY LANDING"
#define OSD_MSG_LANDING             "LANDING"
#define OSD_MSG_LOITERING_HOME      "LOITERING AROUND HOME"
#define OSD_MSG_HOVERING            "HOVERING"
#define OSD_MSG_LANDED              "LANDED"
#define OSD_MSG_PREPARING_LAND      "PREPARING TO LAND"
#define OSD_MSG_AUTOLAUNCH          "AUTOLAUNCH"
#define OSD_MSG_ALTITUDE_HOLD       "(ALTITUDE HOLD)"
#define OSD_MSG_AUTOTRIM            "(AUTOTRIM)"
#define OSD_MSG_AUTOTUNE            "(AUTOTUNE)"
#define OSD_MSG_AUTOTUNE_ACRO       "SWITCH TO ACRO"
#define OSD_MSG_HEADFREE            "(HEADFREE)"
#define OSD_MSG_UNABLE_ARM          "UNABLE TO ARM"

#if defined(USE_SAFE_HOME)
#define OSD_MSG_DIVERT_SAFEHOME     "DIVERTING TO SAFEHOME"
#define OSD_MSG_LOITERING_SAFEHOME  "LOITERING AROUND SAFEHOME"
#endif

typedef enum {
    OSD_RSSI_VALUE,
    OSD_MAIN_BATT_VOLTAGE,
    OSD_CROSSHAIRS,
    OSD_ARTIFICIAL_HORIZON,
    OSD_HORIZON_SIDEBARS,
    OSD_ONTIME,
    OSD_FLYTIME,
    OSD_FLYMODE,
    OSD_CRAFT_NAME,
    OSD_THROTTLE_POS,
    OSD_VTX_CHANNEL,
    OSD_CURRENT_DRAW,
    OSD_MAH_DRAWN,
    OSD_GPS_SPEED,
    OSD_GPS_SATS,
    OSD_ALTITUDE,
    OSD_ROLL_PIDS,
    OSD_PITCH_PIDS,
    OSD_YAW_PIDS,
    OSD_POWER,
    OSD_GPS_LON,
    OSD_GPS_LAT,
    OSD_HOME_DIR,
    OSD_HOME_DIST,
    OSD_HEADING,
    OSD_VARIO,
    OSD_VARIO_NUM,
    OSD_AIR_SPEED,
    OSD_ONTIME_FLYTIME,
    OSD_RTC_TIME,
    OSD_MESSAGES,
    OSD_GPS_HDOP,
    OSD_MAIN_BATT_CELL_VOLTAGE,
    OSD_THROTTLE_POS_AUTO_THR,
    OSD_HEADING_GRAPH,
    OSD_EFFICIENCY_MAH_PER_KM,
    OSD_WH_DRAWN,
    OSD_BATTERY_REMAINING_CAPACITY,
    OSD_BATTERY_REMAINING_PERCENT,
    OSD_EFFICIENCY_WH_PER_KM,
    OSD_TRIP_DIST,
    OSD_ATTITUDE_PITCH,
    OSD_ATTITUDE_ROLL,
    OSD_MAP_NORTH,
    OSD_MAP_TAKEOFF,
    OSD_RADAR,
    OSD_WIND_SPEED_HORIZONTAL,
    OSD_WIND_SPEED_VERTICAL,
    OSD_REMAINING_FLIGHT_TIME_BEFORE_RTH,
    OSD_REMAINING_DISTANCE_BEFORE_RTH,
    OSD_HOME_HEADING_ERROR,
    OSD_COURSE_HOLD_ERROR,
    OSD_COURSE_HOLD_ADJUSTMENT,
    OSD_SAG_COMPENSATED_MAIN_BATT_VOLTAGE,
    OSD_MAIN_BATT_SAG_COMPENSATED_CELL_VOLTAGE,
    OSD_POWER_SUPPLY_IMPEDANCE,
    OSD_LEVEL_PIDS,
    OSD_POS_XY_PIDS,
    OSD_POS_Z_PIDS,
    OSD_VEL_XY_PIDS,
    OSD_VEL_Z_PIDS,
    OSD_HEADING_P,
    OSD_BOARD_ALIGN_ROLL,
    OSD_BOARD_ALIGN_PITCH,
    OSD_RC_EXPO,
    OSD_RC_YAW_EXPO,
    OSD_THROTTLE_EXPO,
    OSD_PITCH_RATE,
    OSD_ROLL_RATE,
    OSD_YAW_RATE,
    OSD_MANUAL_RC_EXPO,
    OSD_MANUAL_RC_YAW_EXPO,
    OSD_MANUAL_PITCH_RATE,
    OSD_MANUAL_ROLL_RATE,
    OSD_MANUAL_YAW_RATE,
    OSD_NAV_FW_CRUISE_THR,
    OSD_NAV_FW_PITCH2THR,
    OSD_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE,
    OSD_DEBUG, // Intentionally absent from configurator and CMS. Set it from CLI.
    OSD_FW_ALT_PID_OUTPUTS,
    OSD_FW_POS_PID_OUTPUTS,
    OSD_MC_VEL_X_PID_OUTPUTS,
    OSD_MC_VEL_Y_PID_OUTPUTS,
    OSD_MC_VEL_Z_PID_OUTPUTS,
    OSD_MC_POS_XYZ_P_OUTPUTS,
    OSD_3D_SPEED,
    OSD_IMU_TEMPERATURE,
    OSD_BARO_TEMPERATURE,
    OSD_TEMP_SENSOR_0_TEMPERATURE,
    OSD_TEMP_SENSOR_1_TEMPERATURE,
    OSD_TEMP_SENSOR_2_TEMPERATURE,
    OSD_TEMP_SENSOR_3_TEMPERATURE,
    OSD_TEMP_SENSOR_4_TEMPERATURE,
    OSD_TEMP_SENSOR_5_TEMPERATURE,
    OSD_TEMP_SENSOR_6_TEMPERATURE,
    OSD_TEMP_SENSOR_7_TEMPERATURE,
    OSD_ALTITUDE_MSL,
    OSD_PLUS_CODE,
    OSD_MAP_SCALE,
    OSD_MAP_REFERENCE,
    OSD_GFORCE,
    OSD_GFORCE_X,
    OSD_GFORCE_Y,
    OSD_GFORCE_Z,
    OSD_RC_SOURCE,
    OSD_VTX_POWER,
    OSD_ESC_RPM,
    OSD_ESC_TEMPERATURE,
    OSD_AZIMUTH,
    OSD_CRSF_RSSI_DBM,
    OSD_CRSF_LQ,
    OSD_CRSF_SNR_DB,
    OSD_CRSF_TX_POWER,
    OSD_GVAR_0,
    OSD_GVAR_1,
    OSD_GVAR_2,
    OSD_GVAR_3,
    OSD_TPA,
    OSD_NAV_FW_CONTROL_SMOOTHNESS,
    OSD_VERSION,
    OSD_RANGEFINDER,
    OSD_PLIMIT_REMAINING_BURST_TIME,
    OSD_PLIMIT_ACTIVE_CURRENT_LIMIT,
    OSD_PLIMIT_ACTIVE_POWER_LIMIT,
    OSD_GLIDESLOPE,
    OSD_ITEM_COUNT // MUST BE LAST
} osd_items_e;

typedef enum {
    OSD_UNIT_IMPERIAL,
    OSD_UNIT_METRIC,
    OSD_UNIT_METRIC_MPH, // Old UK units, all metric except speed in mph
    OSD_UNIT_UK, // Show everything in imperial, temperature in C
    OSD_UNIT_GA, // General Aviation: Knots, Nautical Miles, Feet, Degrees C

    OSD_UNIT_MAX = OSD_UNIT_GA,
} osd_unit_e;

typedef enum {
    OSD_STATS_ENERGY_UNIT_MAH,
    OSD_STATS_ENERGY_UNIT_WH,
} osd_stats_energy_unit_e;

typedef enum {
    OSD_STATS_MIN_VOLTAGE_UNIT_BATTERY,
    OSD_STATS_MIN_VOLTAGE_UNIT_CELL,
} osd_stats_min_voltage_unit_e;

typedef enum {
    OSD_CROSSHAIRS_STYLE_DEFAULT,
    OSD_CROSSHAIRS_STYLE_AIRCRAFT,
    OSD_CROSSHAIRS_STYLE_TYPE3,
    OSD_CROSSHAIRS_STYLE_TYPE4,
    OSD_CROSSHAIRS_STYLE_TYPE5,
    OSD_CROSSHAIRS_STYLE_TYPE6,
    OSD_CROSSHAIRS_STYLE_TYPE7,
} osd_crosshairs_style_e;

typedef enum {
    OSD_SIDEBAR_SCROLL_NONE,
    OSD_SIDEBAR_SCROLL_ALTITUDE,
    OSD_SIDEBAR_SCROLL_SPEED,
    OSD_SIDEBAR_SCROLL_HOME_DISTANCE,

    OSD_SIDEBAR_SCROLL_MAX = OSD_SIDEBAR_SCROLL_HOME_DISTANCE,
} osd_sidebar_scroll_e;

typedef enum {
    OSD_ALIGN_LEFT,
    OSD_ALIGN_RIGHT
} osd_alignment_e;

typedef enum {
    OSD_AHI_STYLE_DEFAULT,
    OSD_AHI_STYLE_LINE,
} osd_ahi_style_e;

typedef enum {
    OSD_CRSF_LQ_TYPE1,
    OSD_CRSF_LQ_TYPE2,
    OSD_CRSF_LQ_TYPE3
} osd_crsf_lq_format_e;

typedef struct osdLayoutsConfig_s {
    // Layouts
    uint16_t item_pos[OSD_LAYOUT_COUNT][OSD_ITEM_COUNT];
} osdLayoutsConfig_t;

PG_DECLARE(osdLayoutsConfig_t, osdLayoutsConfig);

typedef struct osdConfig_s {
    // Alarms
    uint8_t rssi_alarm; // rssi %
    uint16_t time_alarm; // fly minutes
    uint16_t alt_alarm; // positive altitude in m
    uint16_t dist_alarm; // home distance in m
    uint16_t neg_alt_alarm; // abs(negative altitude) in m
    uint8_t current_alarm; // current consumption in A
    int16_t imu_temp_alarm_min;
    int16_t imu_temp_alarm_max;
    int16_t esc_temp_alarm_min;
    int16_t esc_temp_alarm_max;
    float gforce_alarm;
    float gforce_axis_alarm_min;
    float gforce_axis_alarm_max;
#ifdef USE_SERIALRX_CRSF
    int8_t snr_alarm; //CRSF SNR alarm in dB
    int8_t link_quality_alarm;
    int16_t rssi_dbm_alarm; // in dBm
#endif
#ifdef USE_BARO
    int16_t baro_temp_alarm_min;
    int16_t baro_temp_alarm_max;
#endif
#ifdef USE_TEMPERATURE_SENSOR
    osd_alignment_e temp_label_align;
#endif

    videoSystem_e video_system;
    uint8_t row_shiftdown;

    // Preferences
    uint8_t main_voltage_decimals;
    uint8_t ahi_reverse_roll;
    uint8_t ahi_max_pitch;
    uint8_t crosshairs_style; // from osd_crosshairs_style_e
    int8_t horizon_offset;
    int8_t camera_uptilt;
    bool ahi_camera_uptilt_comp;
    uint8_t camera_fov_h;
    uint8_t camera_fov_v;
    uint8_t hud_margin_h;
    uint8_t hud_margin_v;
    bool hud_homing;
    bool hud_homepoint;
    uint8_t hud_radar_disp;
    uint16_t hud_radar_range_min;
    uint16_t hud_radar_range_max;
    uint16_t hud_radar_nearest;
    uint8_t hud_wp_disp;

    uint8_t left_sidebar_scroll; // from osd_sidebar_scroll_e
    uint8_t right_sidebar_scroll; // from osd_sidebar_scroll_e
    uint8_t sidebar_scroll_arrows;

    uint8_t units; // from osd_unit_e
    uint8_t stats_energy_unit; // from osd_stats_energy_unit_e
    uint8_t stats_min_voltage_unit; // from osd_stats_min_voltage_unit_e

#ifdef USE_WIND_ESTIMATOR
    bool    estimations_wind_compensation; // use wind compensation for estimated remaining flight/distance
#endif

    uint8_t coordinate_digits;

    bool osd_failsafe_switch_layout;
    uint8_t plus_code_digits; // Number of digits to use in OSD_PLUS_CODE
    uint8_t plus_code_short;
    uint8_t ahi_style;
    uint8_t force_grid;                 // Force a pixel based OSD to use grid mode.
    uint8_t ahi_bordered;               // Only used by the AHI widget
    uint8_t ahi_width;                  // In pixels, only used by the AHI widget
    uint8_t ahi_height;                 // In pixels, only used by the AHI widget
    int8_t  ahi_vertical_offset;        // Offset from center in pixels. Positive moves the AHI down. Widget only.
    int8_t sidebar_horizontal_offset;   // Horizontal offset from default position. Units are grid slots for grid OSDs, pixels for pixel based OSDs. Positive values move sidebars closer to the edges.
    uint8_t left_sidebar_scroll_step;   // How many units each sidebar step represents. 0 means the default value for the scroll type.
    uint8_t right_sidebar_scroll_step;  // Same as left_sidebar_scroll_step, but for the right sidebar.
    bool osd_home_position_arm_screen;
    uint8_t pan_servo_index;            // Index of the pan servo used for home direction offset
    int8_t pan_servo_pwm2centideg;      // Centidegrees of servo rotation per us pwm
    uint8_t crsf_lq_format;
    uint8_t sidebar_height;             // sidebar height in rows, 0 turns off sidebars leaving only level indicator arrows
    uint8_t telemetry; 				    // use telemetry on displayed pixel line 0

} osdConfig_t;

PG_DECLARE(osdConfig_t, osdConfig);

typedef struct displayPort_s displayPort_t;
typedef struct displayCanvas_s displayCanvas_t;

void osdInit(displayPort_t *osdDisplayPort);
bool osdDisplayIsPAL(void);
void osdUpdate(timeUs_t currentTimeUs);
void osdStartFullRedraw(void);
// Sets a fixed OSD layout ignoring the RC input. Set it
// to -1 to disable the override. If layout is >= 0 and
// duration is > 0, the override is automatically cleared by
// the OSD after the given duration. Otherwise, the caller must
// explicitely remove it.
void osdOverrideLayout(int layout, timeMs_t duration);
// Returns the current current layout as well as wether its
// set by the user configuration (modes, etc..) or by overriding it.
int osdGetActiveLayout(bool *overridden);
bool osdItemIsFixed(osd_items_e item);

displayPort_t *osdGetDisplayPort(void);
displayCanvas_t *osdGetDisplayPortCanvas(void);

int16_t osdGetHeading(void);
int32_t osdGetAltitude(void);

void osdCrosshairPosition(uint8_t *x, uint8_t *y);
bool osdFormatCentiNumber(char *buff, int32_t centivalue, uint32_t scale, int maxDecimals, int maxScaledDecimals, int length);
void osdFormatAltitudeSymbol(char *buff, int32_t alt);
void osdFormatVelocityStr(char* buff, int32_t vel, bool _3D, uint8_t elemPosX, uint8_t elemPosY);
// Returns a heading angle in degrees normalized to [0, 360).
int osdGetHeadingAngle(int angle);

/**
 * @brief Get the OSD system message
 * @param buff pointer to the message buffer
 * @param buff_size size of the buffer array
 * @param isCenteredText if true, centered text based on buff_size
 * @return osd text attributes (Blink, Inverted, Solid)
 */
textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenteredText);